The programming of robots or PLC is an essential task for a successful production process. Programming means that the motion sequence is entered into the robot controller. If programming is carried out on the switched-on robot using its controller, this is referred to as online programming. In offline programming, the program is not copied to the controller until later. A manual programming device, also known as a teach pendant, is often used for robot programming. Good programming allows optimization potentials to be exploited, e.g. as cycle time optimization. Programming makes an important contribution as production start-up support.